STM32系列MICROROS环境配置（更新使用cmake管理）

Mona Darling

更新：更加自由的构建STM32 Microros静态库的方法（适用于linux X86 arm64本文只讲述x86，arm64流程一致，不过需要将arm64系统中的编译器补全部分库即可）

一.使用 micro_ros_setup 生成Microros静态链接库

Ubuntu x86环境：前提，需要下载交叉编译器，若已安装可以跳过

sudo apt-get install -y gcc-arm-none-eabi

下面为从创建工作空间到生成静态库的所有命令，一步一步运行即可：

source /opt/ros/$ROS_DISTRO/setup.bash
mkdir uros_ws && cd uros_ws
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
#若不能使用rosdep，可以使用rosdepc
rosdep update && rosdep install --from-paths src --ignore-src -y
colcon build
source install/local_setup.bash
ros2 run micro_ros_setup create_firmware_ws.sh generate_lib generic

到此，基础构建完成目录如上图所示，但还需要配置两个配置文件 toolchain.cmake和colcon.meta才能生成静态链接库
toolchain.cmake配置如下

set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_CROSSCOMPILING 1)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)

# SET HERE THE PATH TO YOUR C99 AND C++ COMPILERS
# 在这里添加编译器路径
set(PIX arm-none-eabi-)
set(CMAKE_C_COMPILER ${PIX}gcc)
set(CMAKE_CXX_COMPILER ${PIX}g++)

set(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
set(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")

# SET HERE YOUR BUILDING FLAGS
set(FLAGS "-O2 -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -nostdlib -mthumb --param max-inline-insns-single=500 -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE)
#-mcpu=cortex-m3 改成 -mcpu=cortex-m7   这里根据stm32内核更替
#  加入 mfpu=fpv5-d16 -mfloat-abi=hard 支持硬件浮点编译  这里根据stm32内核更替
set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS_INIT "-std=c++11 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
set(__BIG_ENDIAN__ 0)

注意：在toolchain.cmake中的 -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard 部分最好根据生成的工程中cmake配置文件保持一致，此配置对stm32同意系列生效（一般同一系列内核保持一致，例如F1系列内核为M3，F4系列内核为M4）如下图所示

colcon.meta配置如下，此配置摘抄自 micro_ros_stm32cubemx_utils 配置文件如下图所示路径

{
    "names": {
        "tracetools": {
            "cmake-args": [
                "-DTRACETOOLS_DISABLED=ON",
                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
            ]
        },
        "rosidl_typesupport": {
            "cmake-args": [
                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
            ]
        },
        "rcl": {
            "cmake-args": [
                "-DBUILD_TESTING=OFF",
                "-DRCL_COMMAND_LINE_ENABLED=OFF",
                "-DRCL_LOGGING_ENABLED=OFF"
            ]
        }, 
        "rcutils": {
            "cmake-args": [
                "-DENABLE_TESTING=OFF",
                "-DRCUTILS_NO_FILESYSTEM=ON",
                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
                "-DRCUTILS_NO_64_ATOMIC=ON",
                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
            ]
        },
        "microxrcedds_client": {
            "cmake-args": [
                "-DUCLIENT_PIC=OFF",
                "-DUCLIENT_PROFILE_UDP=OFF",
                "-DUCLIENT_PROFILE_TCP=OFF",
                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
                "-DUCLIENT_PROFILE_SERIAL=OFF",
                "-UCLIENT_PROFILE_STREAM_FRAMING=ON",
                "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON"
            ]
        },
        "rmw_microxrcedds": {
            "cmake-args": [
                "-DRMW_UXRCE_MAX_NODES=1",
                "-DRMW_UXRCE_MAX_PUBLISHERS=10",
                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5",
                "-DRMW_UXRCE_MAX_SERVICES=1",
                "-DRMW_UXRCE_MAX_CLIENTS=1",
                "-DRMW_UXRCE_MAX_HISTORY=4",
                "-DRMW_UXRCE_TRANSPORT=custom"
            ]
        }
    }
}

上述两个文件（toolchain.cmake colcon.meta）放入如下图所示的路径中 ~/uros_ws/firmware/mcu_ws

最后编译静态库

ros2 run micro_ros_setup build_firmware.sh $(pwd)/firmware/mcu_ws/toolchain.cmake $(pwd)/firmware/mcu_ws/colcon.meta

最后生成文件在firmware/build目录下，如下图所示

将inclue目录和静态库文件移植到stm32工程文件中即可使用

二.使用静态库文件

STM32方面配置可参考我上篇文章进行配置STM32配置流程只需注意最后生成工程选择cmake即可（cubemx可能需要更新到最新才有此选项）

在STM32 CMakeLists.txt文件中需要加入以下内容
编译C文件

custom_memory_manager.c
microros_allocators.c
microros_time.c
microros_transports/dma_transport.c
如下图所示

set(extera_source 
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/custom_memory_manager.c
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_allocators.c
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_time.c
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_transports/dma_transport.c

)

并在如下图位置加入即可

添加静态库文件

libmicroros.a

set(THIRD_PARTY_LIB "${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/lib/libmicroros.a")

并在如下图位置加入即可

cmake内容如下，但由于该工程有其他库内容，读者只需看个模板即可，具体内容还是根据读者工程目录进行修改

cmake_minimum_required(VERSION 3.22)

#
# This file is generated only once,
# and is not re-generated if converter is called multiple times.
#
# User is free to modify the file as much as necessary
#

# Setup compiler settings
set(CMAKE_C_STANDARD 11)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_C_EXTENSIONS ON)


# Define the build type
if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Debug")
endif()

# Set the project name
set(CMAKE_PROJECT_NAME MicroROSF4_Cmake)

# Include toolchain file
include("cmake/gcc-arm-none-eabi.cmake")



# Enable compile command to ease indexing with e.g. clangd
set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)

# Core project settings
project(${CMAKE_PROJECT_NAME})
message("Build type: " ${CMAKE_BUILD_TYPE})

# Enable CMake support for ASM and C languages
enable_language(C ASM)

# Create an executable object type
add_executable(${CMAKE_PROJECT_NAME})

# Add STM32CubeMX generated sources
add_subdirectory(cmake/stm32cubemx)

# Link directories setup
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
    # Add user defined library search paths
)



  #
  #  3rd-party  lib start
  #
  #

set(THIRD_PARTY_LIB "${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/lib/libmicroros.a")
set(extera_source_control
        ${PROJECT_SOURCE_DIR}/Third-party/control/Src/control.c
        ${PROJECT_SOURCE_DIR}/Third-party/control/Src/Encoder.c
        ${PROJECT_SOURCE_DIR}/Third-party/oled/Src/I2C_Fun.c
        ${PROJECT_SOURCE_DIR}/Third-party/imu/Src/ICM20948.c
        ${PROJECT_SOURCE_DIR}/Third-party/oled/Src/oled.c
        ${PROJECT_SOURCE_DIR}/Third-party/delay/Src/Delay.c
        ${PROJECT_SOURCE_DIR}/Third-party/robot_sys/Src/sys_struct.c
        ${PROJECT_SOURCE_DIR}/Third-party/MadgwickAHRS/Src/MadgwickAHRS.c
)


set(extera_source 
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/custom_memory_manager.c
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_allocators.c
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_time.c
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Src/microros_transports/dma_transport.c

)


message(STATUS "dir  is = ${PROJECT_SOURCE_DIR}")

add_library(LibMicroros_app   
${PROJECT_SOURCE_DIR}/Third-party/Lib_Microrosapp/Src/microrosclass_agent.cpp
)

target_include_directories(LibMicroros_app PRIVATE
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Inc/microros_include
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microrosapp/Inc
)
target_sources(LibMicroros_app PRIVATE
    # Add user sources here
        ${extera_source}
        Third-party/Lib_Microrosapp/Src/microros_class.cpp
)

target_link_libraries(LibMicroros_app PRIVATE 
        stm32cubemx
        ${THIRD_PARTY_LIB}

)
  #
  #  3rd-party lib end
  #
  #

# Add sources to executable
target_sources(${CMAKE_PROJECT_NAME} PRIVATE
    # Add user sources here
    ${extera_source}
    ${extera_source_control}
)

# Add include paths
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
    # Add user defined include paths
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microros/Inc/microros_include
        ${PROJECT_SOURCE_DIR}/Third-party/Lib_Microrosapp/Inc
        ${PROJECT_SOURCE_DIR}/Third-party/MadgwickAHRS/Inc
        ${PROJECT_SOURCE_DIR}/Third-party/control/Inc
        ${PROJECT_SOURCE_DIR}/Third-party/oled/Inc
        ${PROJECT_SOURCE_DIR}/Third-party/imu/Inc
        ${PROJECT_SOURCE_DIR}/Third-party/robot_sys/Inc
        ${PROJECT_SOURCE_DIR}/Third-party/delay/Inc
)
# Add project symbols (macros)
target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
    # Add user defined symbols
)

# Add linked libraries
target_link_libraries(${CMAKE_PROJECT_NAME}
    stm32cubemx
    # Add user defined libraries
    LibMicroros_app                 # 自己生成的静态库
    ${THIRD_PARTY_LIB}     # 第三方静态库
)

剩下的内容可以查看我上一章节内容，主要是microros agent的构建与使用AGENT使用

STM32系列MICROROS环境配置（更新 使用cmake管理）

一.使用 micro_ros_setup 生成Microros静态链接库

Ubuntu x86环境：前提 ，需要下载交叉编译器，若已安装可以跳过

二.使用静态库文件

STM32方面配置可参考我上篇文章进行配置STM32配置流程只需注意最后生成工程选择cmake即可（cubemx可能需要更新到最新才有此选项）

STM32系列MICROROS环境配置（更新使用cmake管理）

Ubuntu x86环境：前提，需要下载交叉编译器，若已安装可以跳过